System and method for determining freight container locations

ABSTRACT

A system and method for determining the locations of freight containers in a freight yard is described. A remote unit that includes a GPS receiver is attached to the freight containers. The remote receivers have an independent power supply—a battery. Intermittently, either by a timer or by a motion detector, the remote receivers are operated. During operation, the remote receivers receive signals from the global positioning satellite system and at an allotted time, transmit the GPS data to a base station before shutting down to conserve power. The base station processes the GPS data to determine a position in the freight yard of each freight container. When a particular freight container or contents is desired, a data base in the base station can be consulted and the contents and location of a particular freight container located. The freight yard is typically outside with a view of the GPS constellation, such as a rail yard, airport baggage area, ship yard, truck park, etc. An alternative is described for use where the freight yard is a warehouse and the satellite view is obstructed. The alternative uses psuedolites or repeaters to track freight containers within the warehouse.

The present invention is a continuation-in-part of U.S. patentapplication Ser. No. 07/804,368 filed Dec. 10, 1991, now U.S. Pat. No.5,364,093 entitled “Golf Distance Measuring System and Method” and acontinuation of Ser. No. 08/334,733 filed Nov. 4, 1994, now U.S. Pat.No. 6,266,008 entitled “System and Method for Determining FreightContainer Locations.”

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates to a system and method for tracking inventory andfreight using the global positioning satellite system.

2. Description of the Related Art

The present invention utilizes the global positioning satellite system(GPS) to determine the location of freight, inventory, packages or thelike (“freight”) in a holding area, such as a freight terminal,railyard, airport, warehouse or other storage area. Knowledge of GPS andfreight or inventory problems and procedures is useful for anappreciation of the present invention. U.S. patent application Ser. No.07/804,368 entitled “Golf Distance Measuring System and Method”(incorporated by reference) describes inter alia a system for trackinggolf carts and players on a golf course using GPS and is analogous tothe present invention which tracks freight.

THE GLOBAL POSITIONING SATELLITE SYSTEM

GPS is a spaced based system of satellites which can provide an infinitenumber of receivers accurate three dimensional position (i.e. horizontallocation and altitude), velocity, and time. A general understanding ofGPS is useful to appreciate the operation of the present invention.Numerous books and articles are available on GPS operation and theory.See e.g., GPS—A Guide to the Next Utility, Trimble Navigation(incorporated by reference for background).

The GPS system is an umbrella of satellites circling the earth passivelytransmitting signals. Each satellite has a very accurate atomic clockwhich is periodically updated. A GPS receiver with an accurate clock canidentify a satellite and determine the transit time of the signal fromthe satellite to the receiver. Knowing the transit time and knowing thatthe speed of light is 186,000 miles per second enables a calculation ofthe distance from the satellite to the receiver. The signal carries withit data which discloses satellite position and time of transmission, andsynchronizes the GPS receiver with the satellite clocks.

As a GPS receiver locates 3 or 4 satellites it determines its distancefrom each satellite. The intersection of these 3 or 4 spheres enables aprecise location of the receiver (and some compensation for timingerrors in the receiver's internal clock). The GPS system should have 21satellites and 3 spares once the system is fully deployed. The fullconstellation of 24 ellites was declared operational in 1994.

There are basically two types of GPS receivers—P (precision) code andC/A (coarse availability) code. P code is for government use only andrequires specialized equipment. C/A code receivers are becoming widelyavailable with the continuing deployment of GPS satellites. Onedifficulty with C/A code receivers is that the government from time totime intentionally degrades the satellite signals—so called “selectiveavailability.” With selective availability turned on horizontal accuracyis on the order of 50-100 meters. With selective availability disabledhorizontal accuracy can improve to around 15 meters, often better than 5meters.

There are several methods presently available for improving thehorizontal accuracy of GPS. One method is called “differential” andgenerally involves sending a correction signal from a base stationlocated at a known coordinate. For example, the U.S. Coast Guard hasplaced a number of GPS base stations at known locations around the U.S.coast region. These base stations compare their GPS computed positionswith the known coordinates of their location to calculate a differentialcorrection. This differential correction is then broadcast to any GPSreceiver in range. This correction may be a position correction, butnormally the correction is to the timing signal for each individualsatellite so that GPS receivers looking at different satellites maycalculate their own correction. This is a “wide area” approach. A “localarea” approach is also often used for differential correction where aprivate gps base station is positioned at a known location andbroadcasts a private or local correction.

Another correction approach which has not yet matured but is promisingis a so-called “pseudolite” correction. With a pseudolite a GPStransmitter transmits a timing signal much like a GPS satellite. See,The Use of Pseudo-Satellites For Improving GPS Performance, D. Klein, B.Parkinson, Navigation (1984), reprinted Vol. III GPS Navigation p. 135(1986); Optimal locations of Pseudolites for Differential GPS, B.Parkinson, K. Fitzgibbon, 30 Navigation J. No.4, winter 1986-87(incorporated by reference for background). The pseudolite transmitsfrom a known location on or near the standard GPS carrier frequency(e.g. L1 or L2) to appear to the GPS receiver like another gpssatellite. The difference is the pseudolite does not have normal gpserrors (or at least minimal), such as ephemeris, ionospheric, multipath,etc., and more importantly, the pseudolite does not have the intentionaldegradation, selective availability. Additionally, a differentialcorrection signal can be added to the pseudolite signal if desired. Aprimary benefit of use of pseudolites is that unlike normal differentialcorrection, pseudolites do not require a separate communicationschannel. That is, the pseudolites appear as another satellite channel tothe receiver. Another benefit is that the timing data from thepseudolite channel is known to be much more precise.

FREIGHT TRACKING SYSTEMS

Consider a railyard, airport, or sea terminal. A number of railcars orfreight containers are constantly on the move into and out of theterminal. The cargo is generally of high value and often transit time istime critical. Indeed, transit time can be very costly when consideringa large number of freight containers delayed by even a day extra. Theincidence of misdirected or misplaced freight or cargo can addsignificantly to the shipping costs. Keeping track of where a particularfreight container is located is a daunting task considering the oftendynamic nature of a freight terminal and repositioning of the cargo.

Tracking inventory in an industrial yard is a similar problem. Inmanufacturing, it is desirable to track the location and availability offinished goods. Most systems use some form of manual label tracking orbar codes to track the inventory. Unfortunately, manual tracking oftenrequires a person to traverse the inventory and scan labels to identifythe presence of the inventory.

SUMMARY OF THE INVENTION

The problems with finding freight in a freight yard are largely solvedby the system and method of the present invention. The system tracksindividual freight containers by intermittently transmitting theposition of a freight container to a base station. The base station isable to post process the GPS data to achieve an accurate location of anindividual package—within one meter or better accuracy. The base stationpreferably has an inventory of the contents of a container. Therefore,when a particular container must be located for reshipment or delivery,the base station need only consult its database to find a particularcontainer's location and contents. This is particularly important whenthe containers are moving about a freight yard as containers arerelocated.

Broadly speaking, the system includes a number of remote GPS receiversattachable to freight containers in a freight yard. The remote receiversare configured to intermittently transmit their location data to a basestation. A communication network connects the remote receivers to thebase station. The base station is configured to receive and display thelocation of a particular remote receiver attached to a freight containerupon request. “Intermittent” means noncontinuous operation in thecontext of present invention. Continuous operation is usuallyunnecessary and adds battery bulk to a remote receiver where minimalsize and weight is important. In one form, a timer sets the time for aremote receiver to transmit. In another form, a motion detectorinitiates a remote receiver operation.

In one form, the remote receivers are simply transmitters for receivingthe GPS timing signals, amplifying the signals, and retransmitting theGPS timing signals to the base station. The base station then calculatesthe location of the remote receiver. In another form, the remotereceiver includes a GPS engine which calculates an apparent positionbased on the GPS timing signals. The base station then applies adifferential correction to obtain a more accurate position of the remotereceivers.

The method for determining the locations of freight containers in afreight yard in accordance with the present invention includes attachinga number of GPS receivers to freight containers; intermittentlyoperating the receivers to receive GPS signals, and intermittentlytransmitting data indicative of container location an identification toa base station. The base station receives and records position data ofthe receivers, and inferentially, the containers the receivers areattached to. Preferably, the base station receives the position data andrefines the data by applying a differential correction to obtain anaccurate position of the freight containers. Preferably, an inventory ofthe freight container contents are maintained at the base station sothat the location and contents of the container are known.

In another form, the present invention contemplates a system fordetermining freight containers locations in a warehouse building. GPSsignals are generally not available inside of structures because oftheir low power. the system uses two or more pseudolites positionedwithin the building for transmitting GPS type of signals. a plurality ofremote receivers are attachable to freight containers within thebuilding for intermittently receiving GPS type signals from thepseudolites. Each remote receiver intermittently transmits its GPS typedata to a base station over a communication network. The base stationreceives the positioning data from the remote receivers and displays thelocation of the remote receivers in the building.

DESCRIPTION OF THE DRAWINGS

FIG. 1 is a rail yard utilizing the present invention;

FIG. 2 is a freight staging area utilizing the present invention;

FIG. 3 is a block diagram of a remote unit in accordance with thepresent invention attached to an aircraft;

FIG. 4 is a schematic of the packet radio network used to transmitposition;

FIG. 5 is a block diagram of the base station in accordance with thepresent invention;

FIG. 6 is a block diagram of another embodiment of a remote unitincluding a radio link in accordance with the present invention; and

FIG. 7 is a block diagram depicting a warehouse freight system accordingto the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention is best illustrated by describing severalembodiments which are believed preferable depending on the particularfreight container location environment. Typically, a remote unit 10 isattached to a freight container and intermittently operates to determineits position and transmit its position to a base station 12. Someapplications need only infrequent position updates or reporting, butmust be useful for a long period of time, e.g. months. Otherapplications need frequent position reporting over a short, several weekperiod.

First Embodiment

Turning to the drawings, the system of the present invention includes aremote unit 10, base station 12, and calibration system 40. A remoteunit 10 is attached to a freight container in a freight yard andintermittently reports its position to the base station 12, at leastwhile the container remains in the freight yard.

As shown in FIG. 3, the remote unit 10 include a packet radio system 20,a GPS antenna 21 and receiver 22, a CPU 24, storage 25, battery 26 and acontrol device 28. The GPS receiver 22 is preferably the multi-channelreceiver such as the SV-6 Model or core module II made by TrimbleNavigation of Sunnyvale, Calif. Other commercially available substitutesare acceptable such as made by Magellan or Rockwell/Collins. The antenna21 is either remote or internal to the receiver 22, but in any event ismounted on the housing of the remote unit 10 for an upward look anglefor optimum GPS signal reception. That is, the remote unit 10 isdesigned for mounting on the top or sides of a freight container for GPSsignal reception.

In more detail, the remote unit 10 includes a CPU 24, nonvolatile memorystorage 25 and control device 28. Preferably, the control device 28 issimply an activation switch which supplies power to the remote unit 10to enable operation. In the preferred remote unit, the CPU 24, memorystorage 25 (e.g. RAM), and GPS engine 22 are integral, and preferablylow power. Of course integration or segregation of the components ofFIG. 3 is a simple matter of design choice. CPU 24 includes an internalclock, as is conventional, which is used to initiate operation. That is,the internal clock is low powered and at a preset time initiatesoperation of the remote unit 10.

In FIG. 3, the packet radio system 20 is conventional, and includesmodem 34, radio interface 36, and radio 38 (including an antenna, notshown). The radio system 20 is bi-directional in that it may receivesignals and also transmit present position and messages back to the basestation 12. A PAC-COM, Inc. (Orlando, Fla.) packet radio modem 300 baudis believed preferable for the modem 34. The ability to receive signalsmay be useful in certain applications where it is desired to locate aparticular container and an indicator, e.g. light or tone, can beinitiated to aid location.

In practice the radio system 20 of FIG. 3 may be uni-directional forsimply transmitting its apparent location of the remote receiver 10 tothe base station 12. An integrated chip set which combines most of thecomponents of the radio system 20 on a single, low cost, low power chipis believed preferable.

The remote units 10 communicate to the base station 12 over a packetradio network as shown in FIG. 4. The packet radio system is designed toeliminate protocols and acknowledgments to reduce the communicationsoverhead. That is, each remote unit 10 is assigned a time (or event) tooperate and transmit its information.

FIG. 5 illustrates the base station 12, which is desirably placed in arouting office or terminal. The base station 12 includes a calibrationsection 40 which comprises a GPS receiver 42 and antenna 44. Thecalibration section 40 continuously determines apparent position of theantenna 44 and feeds this information to CPU 46. The CPU isconventional, such as a 486 type personal computer operating a 66 MHz.The control device 47 preferably includes a mouse and a standardkeyboard. The antenna 44 is probably placed a short distance from thelocation of the CPU and monitor 46,50, but may be displaced a largedistance depending on the physical constraints of the freight yard.

A database in storage 48 is connected to the CPU 46 and storesinformation such as freight yard layout, container inventory, and thepresent position of the remote units, or at least the last reportedposition. A monitor 50 is coupled to CPU 46 and is useful not only forinitialization, but also is selectable to display the present positionof all the remote receiver units 10 in the freight yard. The basestation 12 includes a packet radio system similar to FIG. 3 coupled tothe CPU 46, and comprises modem 52, interface 54, radio 56 and radioantenna 58.

The monitor 50 is capable of displaying the freight yard as shown inFIGS. 1 and 2. The remote units (freight containers) 10 are shown on thephysical layout of the freight yard. A special symbol may be used (e.g.flashing container) for a container that is to be located. In thepresent application the term “freight yard” is used to denote any areafor marshaling or holding the freight containers. FIG. 1 depicts thefreight yard as a rail terminal switching yard while FIG. 2 illustratesa freight yard where shipboard containers are marshaled in a sea port.Other freight yards, such as a trucking trailer marshaling area or anairport container holding area are of course equally applicable.

Different signal processing techniques may be employed at the basestation 12 as desired, such as filtering and compressing. The basestation 12 collects each position from the remote units 10 and processesthe apparent position to determine a more accurate location of theremote unit. The base station 12 can employ the amount of processingdesired to improve the accuracy estimation of the location of the remoteunit—commensurate with the time available, the processing load, accuracydesired, etc.

Second Embodiment

The embodiment illustrated in FIG. 6 is useful to illustrate severalalternatives that may be incorporated into the first embodimentillustrated in FIG. 3. The GPS “engine” is eliminated in the remoteunits 10. Rather, each remote unit 10 comprises a GPS repeater, such asa Tidget GPS sensor made by Navsys Corp. of Edinburgh, Scotland. Therepeater 50 operates to receive the GPS raw data timing signals from theGPS satellites, digitize and compress the timing signals. Preferably,the repeater 50 can be set to look at a certain number of satellites,e.g. 5 satellites. The satellite timing signals are not processed.Instead, the signals are amplified and periodically relayed to the basestation 12 via the radio interface 20.

In FIG. 6, the remote unit 10 includes a separate timer 62 and motiondetector 54 for initiating operation. That is, the timer 52 can be setto initiate operation of the remote unit 10 at preset times.Additionally, or alternatively, the motion detector 54 can initiateoperation when motion is detected—i.e. movement of the freight containerto which the remote unit 10 is attached. Although a low-cost mercuryswitch is used as the motion detector 54, many other types of motiondetectors may be used. The battery 56 is sized depending on the loadimposed. A rechargeable 6 volt D-cell nickel cadmium rechargeablebattery works for most applications.

The repeater system of FIG. 6 uses GPS time to allocate a transmitwindow to each remote unit, thus avoiding the handshake protocolcommunications overhead associated with conventional communicationsschemes. Each repeater 50 has a unique identification which istransmitted along with position data. Each repeater 50 is allocated, forexample, a 5 second transmit time window to transmit its data. Becausethe base station 12 and all of the repeaters 50 have accurate GPS timedata, such a time window allocation is possible. The timer 52 initiatesoperation of the remote unit, and during operation, the timer is resetto GPS time to ensure accurate time in the timer 52. A repeater 50receives timing signals from 4 satellites and stores the signals in atemporary memory buffer (compressing if desired) for transmission in itsallocated time window. These raw data timing signals include anidentification of the satellite.

Different signal processing techniques may be employed if desired toobtain an accurate position estimate of these raw data timing signals,such as filtering and compressing. The base station collects each timingsignal from the repeaters 50 and processes the timing signals todetermine a location of the repeater. The base station 12 can employ theamount of processing desired to the timing signals to improve theaccuracy estimation of the repeater—commensurate with the timeavailable, the processing load, accuracy desired, etc.

The base station 12 receives the timing signals from a certain repeater50 in the repeater's allocated timing window. The base station hasalready coprocessed a timing correction (from calibration section 40)for each satellite timing signal, and therefore can apply the correctionupon receipt of the repeater timing signal. The repeaters 50 arereceiving the timing signals from predominantly the same satellites, sothe base station needs to only keep a current correction for the limitednumber of satellites in view. Using the corrected timing signals, thebase station can accurately process the repeater timing signals toderive a location of the repeater in the freight yard.

This embodiment contemplates the use of time windows to avoid thecommunication overhead associated with hand shake protocols. With thismethod, it is believed that repeaters on over one thousand freightcontainers may transmit their timing signals on a single frequency on adaily basis without interference.

Third Embodiment

FIG. 7 illustrates a number of freight containers 70 inside of awarehouse building 72. Remote units 10 in accordance with the first orsecond embodiments, FIGS. 3 and 6, are attached to the freightcontainers 70. Because the freight containers are inside of a building72, reception of GPS signals from the satellite constellation is notnormally possible. Therefore, pseudolites 74,75 are employed within thebuilding 72 and operate like conventional GPS satellites. Eachpseudolite includes an antenna 76 to receive GPS time from the GPSsatellites. This eliminates the necessity for an atomic clock in thepseudolites 74 (with a concomitant reduction in cost).

While two pseudolites 74,75 are sufficient to give accurate 3D positionto the remote receivers 10, the system of FIG. 7 preferably uses threepseudolites. The elevation of the warehouse floor is known and freightcontainers may be positioned on the floor which simplifies positioncalculations. However, because of the closeness of the pseudolites 74,75to the remote receivers 10, three pseudolites add precision to thelocation determination. The pseudolites 74 have few of the errorsassociated with the GPS satellites, e.g. selective availability,ephemeris, ionospheric, multipath, geometry, etc.

Fourth Embodiment

As an alternative to conventional pseudolites, the pseudolites 74,75 inFIG. 7 may be replaced with relays 74,75 to rebroadcast GPS timingsignals from the GPS constellation. Consider a GPS satellite S1 and aspecific freight container 71 in the warehouse 72. The total time forthe GPS signal to reach container 71 is the time t1 from the satelliteS1 to relay 74 plus the time t2 from relay 74 to the container 71 plusthe rebroadcast delay d. The rebroadcast delay can be made very accurateby updating a clock in the relay 74 with the accurate GPS time from thesatellite.Ttotal=(t 1+t 2+d)

The method for determining the position of the container 71 from therelay 74 can take several forms. In one form, the total time is usedfrom satellite S1 to container 71 minus the delay d to determine adistance from the satellite S1 to container 71. This ignores the angularrelationship between container 71 and relay 74. With the distance fromcontainer 71 to satellite S1 deduced, the distance between container 71and another satellite S2 can be deduced in similar fashion and so on. Itis not necessary to determine distances to multiple satellites, but inmany case the distance from container 71 to relay 74 can be made moreaccurate. A similar method using relay 75 can be used to determine thesignal transit time between container 71 and relay 75, and hence thedistance. Using conventional GPS algorithms, a suspected position ofcontainer 71 can be determined using 2 or more relays to determine theposition of container 71.

In another form, the time t2 from relay 74 to container 71 isdetermined. The delay d is known and time t1 from the satellite S1 torelay 74 can be determined. That is, the almanac gives the position ofthe satellite S1 and the precise position of relay 74 can be determinedahead of time which means time t1 can be accurately computed. A measuredtime at the container 71 is Time total and the delay and t1 times aresubtracted to give t2, the signal transit time from relay 74 tocontainer 71. Knowing time t2 determines a distance between relay 74 andcontainer 71. To determine the position of the container 71 in thewarehouse 72 another distance is determined. The same procedure can beused to determine a distance between relay 75 and the container 71. Thatis, knowing the precise location of relay 75 and the rebroadcast delay denable determination of the time and distance between the relay 75 andthe container 71.

It is important that the rebroadcast delays d associated with each relay74,75 be either known or constant. Additionally, it is usually importantfor the remote receiver 10 on container 71 to be able to identify whichrelay 74,75 is being used to rebroadcast the GPS satellite signals. Onemethod has relays 74,75 append an identification message onto therebroadcast GPS signal. However, it is believed to be preferable to timedelimit the rebroadcasts. That is, relay 74 is allocated a time window,e.g. every even second to rebroadcast and relay 75 is allocated anothertime window to rebroadcast, e.g. every odd second.

It should be understood that the remote unit 10 on the container 71preferably does not perform these calculations. That is, the remote unit10 is configured as in FIGS. 3 or 6 (first or second embodiments) andthe data is transmitted to the base station 12 for determination of theposition of the freight container 71. The base station receives thetransmitted data with a time stamp and can determine that the data wasrebroadcast through a particular relay by comparing the time stamp withthe time windows allotted to the relays.

It should also be understood that this embodiment is illustrated forovercoming the obstruction of a building to receiving GPS signalsinside. However, the same technique can be used to eliminate otherobstructions to GPS signals. For example, in FIG. 2 the freightcontainers 90 may be stacked vertically and horizontally spaced close sothat GPS signals to the remote receiver units 10 are partially ortotally blocked. In this case, one or more relays can be positioned toaugment or supplant the normal transmission path of the GPS signals tothe remote units 10. For example, a relay may be positioned at the endof each accessway 92 in FIG. 2.

Operation

In FIG. 1, a number of railroad cars (i.e. freight containers) aremarshalled in a rail yard (i.e. freight yard). As trains are assembledand disassembled, the railroad cars are constantly moved about the railyard. to assemble the next train, it is important to know where aparticular rail car with a particular inventory is located for inclusionin the next train. There is also an optimal movement of rail cars thatwill minimize the time and effort to assemble the next train. Forexample, if it is desired to configure the next train with cars 80-88,knowing the contents and locations of the rail cars 80-88 can minimizethe effort (and cost) in assembling the next train.

For illustrative purposes, assume the remote receivers 10 of FIG. 3 areattached to the cars 80-88. Every 8 hours, the CPU 24 initiatesoperation of the remote unit 10. The GPS 22 powers up and beginsdetermining its apparent location. After a nominal power up cycle, e.g.3 minutes, the remote unit 10 transmits its apparent location andidentification through radio system 20 to base station 12. The basestation 12 of FIGS. 1,4, and 5 receives the apparent position from aremote receiver and applies a calibration or differential correctionfrom calibration section 40 to the apparent position to realize anaccurate position of the rail cars within a meter or two. It should beappreciated that the apparent position may be sufficiently accurate forthe rail car application of FIG. 1.

Knowing the location and identification of a remote unit 10 on a railcar 80-88, the base station consults the database in storage 48 todetermine rail car contents. When a particular car or contents isdesired, the database tells the user the location of the rail car in therail yard.

Turning to FIGS. 2 and 6, another illustration of the operation of thepresent invention is illustrated. In FIG. 2, the freight yard has anumber of freight containers 90 positioned along accessways 92. A numberof the freight containers 90 have remote receivers 10 configured asdepicted in FIG. 6 attached. The remote unit 10 is attached to a freightcontainer 90 when it enters the freight yard. The remote unit 10 isconfigured to operate once a week unless it is moved. That is, the timer52 is programmed to initiate operation of the remote unit 10 once every7 days. Alternatively, motion detector 54 will initiate operation of theremote unit 10 whenever it senses movement.

When operation is initiated, the repeater 50 simply begins to amplify antransmit the GPS timing signals it receives. Therefore, the repeater 50transmits an identification and a number of GPS timing signals. Eachtiming signal includes a satellite identification. The base station 12receives the GPS timing signals (FIG. 5) and determines a location foreach remote receiver. A differential correction from the calibrationsection 40 is applied to achieve a more accurate location if desired.

It should be understood that a variety of combinations of the aboveembodiments can be easily made. For example, a remote unit 10 may beconfigured to only operate when it is moved—therefore it includes onlythe motion detector 54. Movement initiates operation of the repeater 50and radio system 20 for a short time period or alternatively, whenmovement stops.

1. A system for determining locations in a building comprising: two ormore pseudolites located proximate to the building, operable forreceiving a global positioning satellite system signal, and operable fortransmitting positioning signals within the building; one or more remotereceivers positionable within the building for receiving saidpositioning signals from a pseudolite; a base station; each remotereceiver including a transmitter for communicating positioning databetween said remote receiver and said base station; and the base stationincluding a receiver for receiving positioning data from a remotereceiver and a display for displaying the location of said remotereceiver in said building.
 2. The system of claim 1, the base stationincluding a graphic display for graphically displaying the location ofsaid remote receiver in said building.
 3. A system for determininglocations of objects in a building comprising: one or more pseudoliteslocated in or near the building which operate to transmit GPSpositioning signals within the building; one or more remote receiversaccompanying said objects within the building for receiving the GPSpositioning signals from the one or more pseudolites and each receiveroperable for formulating positioning data indicative of receiverlocation within the building using said GPS positioning signals; a basestation having a receiver for receiving said positioning data from aremote receiver; and a display for indicating the location of the remotereceiver in said building.
 4. The system of claim 3, wherein saidpseudolites transmit GPS signals within the building.
 5. The system ofclaim 3, wherein said GPS signals comprise a pseudo random code.
 6. Thesystem of claim 3, wherein said pseudolites rebroadcast within saidbuilding a GPS signal received from a GPS satellite.
 7. The system ofclaim 3, wherein said objects are freight containers and said buildingis a warehouse.
 8. A method of determining locations within a buildingcomprising the steps of: providing one or more remote receivers whichreceive GPS signals within the building; transmitting a GPS signalwithin the building; receiving said GPS signals at said remote receiverand formulating positioning data indicative of receiver location withinthe building; transmitting said positioning data from said receiver to abase station; and displaying the location within the building of theremote receiver using said positioning data.
 9. The method of claim 8,wherein the positioning data is the location of the receiver within thebuilding.
 10. The method of claim 8, wherein the positioning data is arebroadcast of at least a portion of the GPS signal from which thereceiver location may be determined.
 11. The method of claim 8, whereinsaid GPS signal transmitted within the building emanates from apseudolite and comprises a pseudo random code.
 12. The method of claim8, wherein said GPS signals transmitted within the building comprise aspread spectrum signal.
 13. The method of claim 8, wherein said GPSsignals transmitted within the building comprise a pulsed signal. 14.The method of claim 8, including the steps of transmitting a positioningsignal within the building, receiving the positioning signal at theremote receiver, and formulating said positioning data indicative ofreceiver location within the building using said positioning signal. 15.The method of claim 14, including generating said positioning signalusing a pseudolite.